JP2021164081A - Protector, protection method, and unmanned aircraft - Google Patents

Abstract

To provide a protector for protecting a sensor mounted on an unmanned aircraft.SOLUTION: An unmanned aircraft 100 comprises a protector 400 comprising a frame 410 and a nozzle that is provided on the frame and connected to a container, the protector protecting a sensor by discharging a content of the container from the nozzle. The protector further comprises an information acquisition unit for acquiring information from the outside and discharges the content from the nozzle on the basis of the information acquired by the information acquisition unit. The protector may further comprise an environment detection unit for detecting a variation in an environment and discharge the content from the nozzle on the basis of the variation detected by the environment detection unit. The protector may further comprise a foreign object detection unit for detecting a foreign object and discharge the content from the nozzle in response to the foreign object detection unit detecting the foreign object.SELECTED DRAWING: Figure 1

Description

The present invention relates to protective devices, protective methods and unmanned aerial vehicles.

Patent Documents 1 and 2 describe a device that generates an air flow in a housing so that dust and the like do not adhere to a sensor mounted on an unmanned aerial vehicle. Further, Patent Document 3 describes a device for cleaning the sensor surface by injecting a cleaning liquid onto a sensor mounted on an unmanned aerial vehicle.
Patent Document 1 International Publication No. 2018165937 Patent Document 2 International Publication No. 2009100136 Patent Document 3 Japanese Patent Application Laid-Open No. 2019-526206

With the expansion of the range of use of unmanned aerial vehicles, it is required to effectively protect sensors in various environments.

In the first aspect of the present invention, it is a protective device for protecting a sensor mounted on an unmanned aerial vehicle, comprising a housing and a nozzle provided in the housing and connected to a container, from the nozzle. Provided is a protective device that protects the sensor by ejecting the contents of the container.

The protection device may further include an information acquisition unit that acquires information from the outside, and may eject the contents from the nozzle based on the information acquired by the information acquisition unit.

The information acquisition unit may acquire operation information from the operator.

The information acquisition unit may acquire information from an unmanned aerial vehicle.

The protective device may further include an environment detection unit that detects changes in the environment, and may eject the contents from the nozzles based on the changes detected by the environment detection unit.

The protective device may further include a foreign matter detecting unit that detects foreign matter, and may eject the contents from the nozzle in response to the foreign matter detecting unit detecting the foreign matter.

The foreign matter detection unit may be provided near the entrance of the housing from the sensor, and the nozzle may be provided between the sensor and the foreign matter detection unit.

The foreign matter detecting unit may have a light receiving unit and detect a change in the amount of light received when a foreign matter approaches the light receiving unit.

The foreign matter detecting unit has a current-carrying part, and may detect a change in resistance when a foreign matter comes into contact with the current-carrying part.

The nozzle is provided between the sensor and the inlet of the housing, and the foreign matter detection unit may operate as a sensor.

The housing may have a recess having a cylindrical or substantially tapered shape from the inlet of the housing to the bottom, the sensor may be mounted on the bottom, and the nozzle may be provided on the side surface of the recess.

The protective device may further include a container.

The contents may be ejected from the nozzle in a direction different from the direction toward the sensor.

The discharged contents may contain a liquid.

The discharged contents may contain a repellent for the living body.

A second aspect of the present invention is a protection method for protecting a sensor mounted on an unmanned aerial vehicle, which is a step of protecting the sensor by ejecting the contents of the container from a nozzle connected to the container. Provide a protection method.

The protection method may further include a step of acquiring information from the outside and a step of ejecting the contents from the nozzle based on the acquired information.

The protection method may further include a step of detecting a change in the environment and a step of ejecting the contents from the nozzle based on the detected change.

The protection method may further include a step of detecting an object and a step of ejecting the contents from the nozzle in response to the detection of the foreign matter.

In the third aspect of the present invention, an unmanned aerial vehicle provided with the protective device according to the first aspect of the present invention is provided.

The outline of the above invention does not list all the features of the present invention. Sub-combinations of these feature groups can also be inventions.

It is a figure which shows an example of the structure of the unmanned aerial vehicle 100. It is a figure which shows an example of the structure of the control device 200. It is a figure which shows an example of the structure of the terminal apparatus 300. It is a perspective view which shows an example of the structure of the housing 410. It is sectional drawing of the housing 410 shown in FIG. 4A. It is a figure which shows an example of the structure of the discharge device 450. It is a figure which shows an example of the functional block of the protection device 400 which concerns on Example 1. FIG. It is a figure which shows an example of the operation state of the protection device 400. It is a figure which shows an example of the cross section of the housing 410 in FIG. 7A. It is a figure which shows an example of the functional block of the protection device 400 which concerns on Example 2. FIG. It is a figure which shows an example of the operation state of the protection device 400. It is a figure which shows an example of the cross section of the housing 410 in FIG. 9A. It is a figure which shows an example of the functional block of the protection device 400 which concerns on Example 3. FIG. It is sectional drawing of the housing 410 which shows an example of the foreign matter detection part 412. It is a figure which shows the example which the foreign matter 500 approaches a foreign matter detection part 412 shown in FIG. 11A. It is a perspective view of the housing 410 which shows another example of the foreign matter detection part 412. FIG. 12A is a cross-sectional view of the housing 410 in FIG. 12A. It is sectional drawing of the housing 410 which shows the other example of the foreign matter detection part 412. It is a flow chart which shows an example of the protection method. It is a flow chart which shows another example of a protection method. It is a flow chart which shows another example of a protection method.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the inventions that fall within the scope of the claims. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention.

FIG. 1 is a diagram showing an example of the configuration of the unmanned aerial vehicle 100.

The unmanned aerial vehicle 100 is an air vehicle that flies in the air. The unmanned aerial vehicle 100 of this example includes a main body unit 10, a propulsion unit 20, a movable camera 30, and a GPS information receiving unit 40. In this specification, the direction in which the movable camera 30 is pointed is referred to as the front direction of the unmanned aerial vehicle 100 in FIG. 1, but the flight direction is not limited to the front direction.

The main body 10 stores various control circuits, power supplies, and the like of the unmanned aerial vehicle 100. Further, the main body portion 10 may function as a structure for connecting the configurations of the unmanned aerial vehicle 100 to each other. The main body 10 of this example is connected to the propulsion section 20.

The main body 10 is connected to the legs 15. The legs 15 hold the attitude of the unmanned aerial vehicle 100 at the time of landing. The leg portion 15 holds the posture of the unmanned aerial vehicle 100 with the propulsion portion 20 stopped. The unmanned aerial vehicle 100 of this example has two legs 15. A movable camera 30 and a protective device 400 may be attached to the legs 15.

The propulsion unit 20 propels the unmanned aerial vehicle 100. The propulsion unit 20 has a rotary blade 21 and a rotary drive unit 22. The unmanned aerial vehicle 100 of this example includes four propulsion units 20. The propulsion portion 20 is attached to the main body portion 10 via the arm portion 24. The unmanned aerial vehicle 100 may be an air vehicle having fixed wings.

The propulsion unit 20 obtains propulsive force by rotating the rotary blade 21. Four rotary blades 21 are provided around the main body 10, but the method of arranging the rotary blades 21 is not limited to this example. The rotary blade 21 is provided at the tip of the arm portion 24 via a rotary drive unit 22.

The rotary drive unit 22 has a power source such as a motor and drives the rotary blade 21. The rotary drive unit 22 may have a brake mechanism for the rotary blade 21. The rotary blade 21 and the rotary drive unit 22 may be directly attached to the main body portion 10 by omitting the arm portion 24.

The arm portion 24 is provided so as to extend radially from the main body portion 10. The unmanned aerial vehicle 100 of this example includes four arm portions 24 provided corresponding to the four propulsion portions 20. The arm portion 24 may be fixed or movable. Other configurations such as a camera may be fixed to the arm portion 24.

The movable camera 30 captures an image of the surroundings of the unmanned aerial vehicle 100. The movable camera 30 of this example is provided below the main body 10. In one example, the lower direction refers to the side opposite to the side where the rotary blade 21 is provided with respect to the main body portion 10.

Although omitted in FIG. 1, the unmanned aerial vehicle 100 includes a fixed camera provided on the side surface of the main body 10 in addition to the movable camera 30. The movable camera 30 and the fixed camera capture images in different areas. For example, the fixed camera acquires an image of the front of the unmanned aerial vehicle 100, and the movable camera 30 acquires an image of a narrower area than the fixed camera. Further, when the fixed camera is photographing the traveling direction, the movable camera 30 may photograph the image of the discharging direction in which the protective device 400 described later discharges the contents 465 of the container.

In one example, the images captured by the movable camera 30 and the fixed camera are transmitted to the terminal device 300 described later. The operator of the unmanned aerial vehicle 100 may operate the unmanned aerial vehicle 100 based on the image captured by the fixed camera. Further, the operator of the unmanned aerial vehicle 100 may directly see and operate the unmanned aerial vehicle 100.

By providing the unmanned aerial vehicle 100 of this example with a fixed camera for maneuvering and a movable camera 30 for ejection control, the operation by the operator becomes easy. Since it is not necessary to switch between the operation screen for maneuvering and the operation screen for discharge control, it is possible to prevent the operator from being confused. In addition, the surroundings of the unmanned aerial vehicle 100 can be easily grasped while controlling the discharge.

The connecting portion 32 connects the main body portion 10 and the movable camera 30. The connecting portion 32 may be fixed or movable. The connecting portion 32 may be a gimbal for controlling the position of the movable camera 30 in the three-axis directions.

The GPS information receiving unit 40 is an antenna provided on the side surface of the main body unit 10. The GPS information receiving unit 40 receives the position information of the unmanned aerial vehicle 100 from the GPS satellite.

A protective device 400 that protects the sensor mounted on the unmanned aerial vehicle 100 is connected to the unmanned aerial vehicle 100. The protection device 400 includes a housing 410, an extension portion 430, and a discharge device 450. The sensor may be a camera, an ultrasonic sensor, an optical sensor, or the like. The protective device 400 may be included as a component of the unmanned aerial vehicle 100.

The housing 410 is connected to the main body 10. The housing 410 may be connected to a member other than the main body 10 such as the arm 24 or the leg 15. In one example, the housing 410 has a recess 420 for accommodating the sensor.

The stretched portion 430 is a tube for discharging the contents 465 of the container 460. The extending portion 430 is provided so as to extend from the container 460 of the discharge device 450 to the housing 410, and connects the housing 410 and the discharge device 450. The extension portion 430 branches in the housing 410 and is connected to each nozzle 414 described later. The number of stretched portions 430 may be provided according to the number of housings 410.

The discharge device 450 holds a container 460, which will be described later, filled with the contents 465. The discharge device 450 is connected to the main body 10. The discharge device 450 may be connected to a member other than the main body portion 10 such as the arm portion 24 or the leg portion 15. In one example, the discharge device 450 is a cylindrical sleeve that houses the container 460.

The material of the discharge device 450 is not particularly limited as long as it can retain the shape of the accommodating portion accommodating the container 460. For example, the material of the discharge device 450 includes a strong and lightweight material such as metal such as aluminum, plastic, or carbon fiber. Further, the material of the discharge device 450 is not limited to a hard material, and may include a soft material, for example, a rubber material such as silicone rubber or urethane foam. The discharge device 450 may include a heating mechanism for heating or keeping the container 460 warm.

FIG. 2 is a diagram showing an example of the configuration of the control device 200. The control device 200 has an antenna 210, a control stick 220, and a discharge button 230.

The control device 200 is communicably connected to the unmanned aerial vehicle 100 via the antenna 210. The control stick 220 is a device for the operator of the unmanned aerial vehicle 100 to input a flight instruction of the unmanned aerial vehicle 100. The control device 200 transmits a flight instruction input by the operator of the unmanned aerial vehicle 100 by operating the control stick 220 to the unmanned aerial vehicle 100, and controls the flight of the unmanned aerial vehicle 100.

The discharge button 230 is a device for the operator of the unmanned aerial vehicle 100 to input a discharge instruction for discharging the contents 465 of the container 460. The control device 200 transmits a discharge instruction input by the operator of the unmanned aerial vehicle 100 by pressing the discharge button 230 to the protection device 400, and controls the discharge of the contents 465 of the container 460.

The discharge button 230 may have a form other than a button such as a stick. The discharge button 230 may be integrated with the control stick 220.

The control device 200 may be connected to the terminal device 300 by wire or wirelessly. A plurality of control devices 200 may be provided and used properly for the control of the unmanned aerial vehicle 100 and for the discharge control of the protection device 400.

The operator of this example manually operates the unmanned aerial vehicle 100 using the control device 200. However, the operator may automatically operate the unmanned aerial vehicle 100 by a program instead of manually. Further, the operation of the unmanned aerial vehicle 100 may be automatically controlled, and the discharge of the protection device 400 may be manually operated.

FIG. 3 is a diagram showing an example of the configuration of the terminal device 300. The terminal device 300 includes a display unit 310. In one example, the terminal device 300 is a mobile terminal such as a smartphone or tablet.

In one example, the display unit 310 displays map information of the area in which the unmanned aerial vehicle 100 flies. The display unit 310 may display the position information of the unmanned aerial vehicle 100 acquired from the GPS information receiving unit 40 by superimposing it on the map information. Further, as will be described later, the display unit 310 may indicate the operating area 320 of the protection device 400 set in advance on the map information.

Alternatively, the display unit 310 may display images taken by each of the fixed camera and the movable camera 30 mounted on the unmanned aerial vehicle 100. For example, the display unit 310 displays the images of the fixed camera and the movable camera 30 on divided screens. The terminal device 300 may directly communicate with the unmanned aerial vehicle 100, or may indirectly communicate with the unmanned aerial vehicle 100 via the control device 200. The terminal device 300 may be connected to an external server.

The terminal device 300 may further include an input device for the operator to input discharge control information for controlling the discharge of the contents 465. In one example, the discharge control information is information such as discharge time, interval, and number of times.

FIG. 4A is a perspective view showing an example of the configuration of the housing 410. The housing 410 has a recess 420 in which the sensor 50 is attached to the bottom 424. The sensor 50 may be a camera or a distance measuring sensor such as an ultrasonic sensor. The housing 410 may be provided with a temperature sensor 443 or a humidity sensor 444 (not shown).

A nozzle 414 is provided between the inlet 411 of the housing 410 and the sensor 50 attached to the bottom 424 of the recess 420. The number of nozzles 414 is not limited, but in one example, a plurality of nozzles 414 are regularly arranged radially from a sensor 50 attached to the bottom 424.

FIG. 4B is a cross-sectional view of the housing 410 shown in FIG. 4A. The recess 420 shown in FIG. 4B (a) has a shape that is substantially tapered from the inlet 411 of the housing 410 toward the bottom 424. The recess 420 shown in FIG. 4B (b) has a tubular shape having a constant inner diameter from the inlet 411 of the housing 410 to the bottom 424. The shape of the recess 420 is not limited to these, and may be any shape that does not block the path between the sensor 50 attached to the bottom 424 and the external detection object.

The nozzle 414 is provided on the side surface 426 of the recess 420. Each nozzle 414 is connected to an extension portion 430 connected to a housing 410, and discharges the contents 465 of the container 460 from each nozzle 414.

In FIG. 4B, the orientation of each nozzle 414 is perpendicular to, but is not limited to, the side surface 426. Each nozzle 414 may be arranged in a direction different from the direction from the nozzle 414 to the sensor 50. That is, each nozzle 414 discharges the content 465 in a direction different from the direction toward the sensor 50.

In this way, since the content 465 ejected from the nozzle 414 by the protection device 400 does not directly hit the sensor 50, it is possible to avoid a detection error of the sensor 50 due to adhesion to the surface of the sensor 50 or damage to the surface of the sensor 50. can.

FIG. 5 is a diagram showing an example of the configuration of the discharge device 450. FIG. 5 shows a cross-sectional view of the discharge device 450. The discharge device 450 holds the container 460. The container 460 may be included as a component of the protective device 400.

The discharge device 450 of this example includes a main body 451, a first end cover portion 453, and a second end cover portion 455. Further, the discharge device 450 includes a discharge drive unit 480 for controlling discharge from the container 460.

The container 460 may be an aerosol container that discharges the contents 465 filled inside by gas pressure. For example, the container 460 ejects the contents 465 by the gas pressure of the liquefied gas or the compressed gas filled therein. The container 460 of this example is a metal aerosol can. The container 460 may be a pressure-resistant plastic container. The container 460 is mounted in a state of being housed in the discharge device 450. The container 460 is not limited to the aerosol container, and may be a resin tank.

The contents 465 may be selected according to the flight area of the unmanned aerial vehicle 100. In other words, the content 465 may be selected according to the intended use of the protective device 400. The content 465 may be a gas or a liquid. Further, the content 465 discharged from the nozzle 414 may contain a liquid, may be a dry gas, or may be heated. The discharged content 465 may be water or may contain a drug such as a repellent for a living body. The discharged content 465 may be air, N ₂ or CO ₂ .

Alternatively, the content 465 may be selected according to the characteristics of the sensor 50 mounted on the unmanned aerial vehicle 100. When an ultrasonic sensor is mounted as a sensor 50, the content 465 may be a gas because the sensitivity of the ultrasonic sensor decreases when it gets wet with water.

Examples of the propellant include liquefied gas such as hydrocarbon (liquefied petroleum gas) (LPG), dimethyl ether (DME) and fluorinated hydrocarbon (HFO-1234ze), carbon dioxide (CO ₂ ), nitrogen (N ₂ ), and the like. nitrous oxide (N 2 _O) compressed gas or the like may be used.

The main body 451 has a cylindrical shape having a diameter larger than that of the container 460. The main body 451 of this example is sandwiched between the first end cover portion 453 and the second end cover portion 455.

The first end cover portion 453 covers one end portion of the main body 451. The first end cover portion 453 of this example covers the end portion of the container 460 on the injection side. The first end cover portion 453 is detachably screwed and fixed to the main body 451 via the screw portion 452. The first end cover portion 453 of this example has a dome-shaped cover body. The diameter of the first end cover portion 453 is reduced so as to gradually decrease toward the tip in consideration of aerodynamic characteristics. The first end cover portion 453 has a conical or dome-shaped curved surface with a rounded tip. By forming the shape with good aerodynamic characteristics in this way, the influence of crosswinds can be reduced and flight can be stabilized.

The second end cover portion 455 covers the other end portion of the end portion covered by the first end cover portion 453 in the main body 451. The second end cover portion 455 of this example covers the end portion of the container 460 opposite to the injection side. The second end cover portion 455 is integrally formed with the main body 451. Further, the second end cover portion 455 may be provided detachably from the main body 451.

The discharge drive unit 480 discharges the contents 465 from the container 460 in response to a discharge signal received from the foreign matter detection unit 412 described later, the information acquisition unit 440 described later, or the environment detection unit 442. The discharge drive unit 480 is housed in the second end cover portion 455 located on the bottom side of the container 460. The second end cover portion 455 functions as a housing of the discharge drive portion 480. The discharge drive unit 480 includes a cam 481, a cam follower 482, and a movable plate 483. Since the discharge drive unit 480 is provided in the discharge device 450, it is not necessary to replace the discharge drive unit 480 when the container 460 is replaced.

The cam 481 is rotationally driven by a drive source. In one example, a motor is used as the drive source. The cam 481 has a structure in which the distance from the center of rotation to the outer circumference is different. In the illustrated example, the shape of the cam 481 is exaggerated. The cam 481 is in contact with the cam follower 482 on the outer periphery.

The cam follower 482 is provided between the cam 481 and the movable plate 483. The cam follower 482 is connected to the cam 481 and the movable plate 483, and transmits the rotational motion of the cam 481 to the movable plate 483 as a linear motion.

The movable plate 483 is provided in contact with the bottom surface of the container 460 and controls the opening and closing of the valve of the container 460. The movable plate 483 is moved back and forth by the cam follower 482. For example, when the distance between the center of rotation of the cam 481 and the contact area of the cam 481 with which the cam follower 482 abuts is short, the movable plate 483 retracts with respect to the container 460, and the valve of the container 460 closes. On the other hand, when the distance between the center of rotation of the cam 481 and the contact area of the cam 481 with which the cam follower 482 abuts is long, the movable plate 483 advances with respect to the container 460, and the valve of the container 460 opens.

The discharge drive unit 480 has a configuration in which the rotary motion of the motor is converted into a linear motion by a cam mechanism, but the discharge drive unit 480 is not limited to the cam mechanism. For example, the mechanism of the discharge drive unit 480 may be a mechanism such as a screw feed mechanism or a rack and pinion that converts the rotary motion of the motor into a linear motion. Further, as the drive source, a linear motor for linear drive, an electromagnetic solenoid, or the like may be provided instead of the rotary motor.

The stem 462 is provided in the container 460. When the stem 462 is pressed by the actuator 454, the content 465 is discharged from the container 460. The content 465 discharged from the container 460 is discharged from the nozzle 414 of the housing 410 via the stretched portion 430.

Since the container 460 of this example is an aerosol container, even if the container 460 is empty, it can be easily replaced by simply mounting a new container 460. In addition, the contents 465 are less likely to adhere to the human body and are highly safe at the time of replacement.

[Example 1]
The protective device according to the first embodiment will be described. FIG. 6 is a diagram showing an example of a functional block of the protection device 400 according to the first embodiment. FIG. 6 shows an example of the functional block of the unmanned aerial vehicle 100 together with the functional block of the protective device 400.

The unmanned aerial vehicle control unit 110 is connected to the movable camera 30, the GPS information receiving unit 40, the altitude information receiving unit 42, the sensor 50, and the communication unit 60 by wire or wirelessly. In one example, the unmanned aerial vehicle control unit 110, the movable camera 30, the GPS information receiving unit 40, the altitude information receiving unit 42, and the communication unit 60 are provided in the main body 10 of the unmanned aerial vehicle 100, and the sensor 50 is provided in the housing 410. The altitude information receiving unit 42 acquires the altitude information of the unmanned aerial vehicle 100 from the altimeter. The unmanned aerial vehicle control unit 110 acquires flight information from the control device 200 via the communication unit 60.

The unmanned aerial vehicle control unit 110 acquires information from the movable camera 30, the GPS information receiving unit 40, the altitude information receiving unit 42, the sensor 50, and the communication unit 60 at a preset cycle, and based on the acquired information, the unmanned aerial vehicle control unit 110. Control 100 flights.

The protection device 400 of this example includes an information acquisition unit 440, a communication unit 441, and a discharge device 450. The information acquisition unit 440 and the communication unit 441 may be provided in the main body 10 of the unmanned aerial vehicle 100, respectively, and the unmanned aerial vehicle control unit 110 and the communication unit 60 may each perform these functions. The information acquisition unit 440 and the communication unit 441 are connected to each other by wire or wirelessly. Further, the information acquisition unit 440 is connected to the discharge device 450 by wire or wirelessly. The information acquisition unit 440 is wirelessly connected to the control device 200 via the communication unit 441. Further, the information acquisition unit 440 is connected to the unmanned aerial vehicle control unit 110 of the unmanned aerial vehicle 100 by wire or wirelessly.

Alternatively, the information acquisition unit 440 and the communication unit 441 may be provided in the housing 410. In this case, the information acquisition unit 440 and the communication unit 441 are connected to each other by wire or wirelessly. Further, the information acquisition unit 440 is connected to the discharge device 450 by wire or wirelessly. The information acquisition unit 440 is wirelessly connected to the control device 200 via the communication unit 441. Further, the information acquisition unit 440 is connected to the unmanned aerial vehicle control unit 110 of the unmanned aerial vehicle 100 by wire or wirelessly.

The information acquisition unit 440 acquires information from the outside and transmits a discharge signal to the discharge device 450 based on the acquired information. In one example, the information acquisition unit 440 acquires information from the control device 200 via the communication unit 441. When the control device 200 transmits the discharge instruction of the operator input by the discharge button 230 to the protection device 400, the information acquisition unit 440 transmits the discharge signal generated based on the acquired discharge instruction to the discharge device 450. The discharge drive unit 480 of the discharge device 450 opens and closes the valve of the container 460 based on the received discharge signal to release the content 465, and the content 465 is discharged from the nozzle 414 of the housing 410 via the extension unit 430. Will be done.

Alternatively, the information acquisition unit 440 and the communication unit 441 may be provided in the discharge device 450. In this case, the information acquisition unit 440 and the communication unit 441 are connected to each other by wire or wirelessly. The information acquisition unit 440 acquires information from the control device 200 via the communication unit 441. When the control device 200 transmits the discharge instruction of the operator input by the discharge button 230 to the protection device 400, the information acquisition unit 440 outputs the discharge signal generated based on the acquired discharge instruction to the discharge drive unit 480. .. The discharge drive unit 480 opens and closes the valve of the container 460 based on the input discharge signal to release the content 465, and the content 465 is discharged from the nozzle 414 of the housing 410 via the extension unit 430.

FIG. 7A is a diagram showing an example of the operating state of the protection device 400. Here, the operation of the protective device 400 will be described by taking the case where the unmanned aerial vehicle 100 enters the operating area 320 as an example.

The operator of the unmanned aerial vehicle 100 inputs the position information of the operating area 320 of the protection device 400 to the terminal device 300. The operating area 320 is a preset area in which the protective device 400 discharges the contents 465 of the container 460 when the unmanned aerial vehicle 100 enters. In one example, the operating area 320 is an area such as a forest where foreign matter 500 flies. The terminal device 300 may indicate the operating area 320 on the map information displayed on the display unit 310.

The terminal device 300 transmits the position information of the operating area 320 to the unmanned aerial vehicle control unit 110 in advance. The unmanned aerial vehicle control unit 110 stores the acquired position information of the operating area 320 in a memory or the like.

The terminal device 300 may transmit the discharge control information such as the discharge time, the interval, and the number of times set by the operator to the information acquisition unit 440 in advance. The information acquisition unit 440 stores the acquired discharge control information in a memory or the like.

During the flight of the unmanned aerial vehicle 100, the unmanned aerial vehicle control unit 110 compares the position information of the unmanned aerial vehicle 100 acquired from the GPS information receiving unit 40 with the position information of the stored operating area 320. When the position information of the unmanned aerial vehicle 100 matches the position information of the operating area 320, the unmanned aerial vehicle control unit 110 receives the approach information indicating that the unmanned aerial vehicle 100 has entered the operating area 320, and the information acquisition unit 440 of the protection device 400. Send to. The information acquisition unit 440 transmits a discharge signal to the discharge device 450 based on the acquired approach information and the stored discharge control information.

In response to the discharge signal acquired by the discharge device 450, the contents 465 of the container 460 are discharged from the nozzle 414. In one example, the discharged content 465 contains a repellent against the living body. The discharged contents 465 float in the atmosphere near the inlet 411 of the housing 410 and hinder the approach of the foreign matter 500 to the sensor 50. In this way, the protection device 400 protects the sensor 50 by prophylactically ejecting the contents 465 of the container 460 from the nozzle 414 in the area where the foreign matter 500 is abundant.

Alternatively, the protection device 400 may discharge the contents 465 of the container 460 from the nozzle 414 in response to the discharge instruction of the operator input from the control device 200. The control device 200 transmits the discharge instruction from the operator input by the discharge button 230 to the protection device 400 via the antenna 210. The information acquisition unit 440 receives the discharge instruction via the communication unit 441, and transmits the discharge signal to the discharge device 450 based on the acquired discharge instruction.

In this way, the protection device 400 responds to the instruction of the operator who confirmed the situation of the flight area of the unmanned aerial vehicle 100 from the captured image of the movable camera 30 displayed on the display unit 310 of the terminal device 300, and the container is sent from the nozzle 414. The sensor 50 is also protected by ejecting the contents 465 of the 460.

FIG. 7B is a diagram showing an example of a cross section of the housing 410 in FIG. 7A.

The protection device 400 discharges the contents 465 of the container 460 from the nozzle 414 based on the information acquired by the information acquisition unit 440. In one example, the discharged content 465 contains a mist-like biorepellent. The contents 465 discharged from the plurality of nozzles 414 are united from the inside of the recess 420 of the housing 410 in the vicinity of the inlet 411 to form an air curtain, and hinder the approach of the foreign matter 500 to the sensor 50.

[Example 2]
Next, the protective device according to the second embodiment will be described. FIG. 8 is a diagram showing an example of a functional block of the protection device 400 according to the second embodiment.

The protection device 400 of this example includes an environment detection unit 442 that detects changes in the environment, a temperature sensor 443 and a humidity sensor 444, and a discharge device 450. The temperature sensor 443 and the humidity sensor 444 are provided in the housing 410. The environment detection unit 442 may be provided in the main body 10 of the unmanned aerial vehicle 100, or the unmanned aerial vehicle control unit 110 may take on the function. Alternatively, the environment detection unit 442 may be provided in the housing 410. The environment detection unit 442 is connected to the temperature sensor 443 and the humidity sensor 444 by wire or wirelessly. Further, the environment detection unit 442 is connected to the discharge device 450 by wire or wirelessly.

The temperature sensor 443 and the humidity sensor 444 measure the temperature and humidity in the housing 410, respectively, and transmit the temperature and humidity to the environment detection unit 442 at a preset cycle. The environment detection unit 442 detects changes in the environment from the acquired temperature and humidity.

In one example, the environment detection unit 442 transmits a discharge signal to the discharge device 450 when it detects that the amount of change in temperature and humidity exceeds a predetermined threshold value. The discharge drive unit 480 of the discharge device 450 opens and closes the valve of the container 460 based on the received discharge signal to release the content 465, and the content 465 is discharged from the nozzle 414 of the housing 410 via the extension unit 430. Will be done.

Alternatively, the environment detection unit 442 may be provided in the discharge device 450. In this case, the environment detection unit 442 is connected to the temperature sensor 443 and the humidity sensor 444 by wire or wirelessly. The environment detection unit 442 detects changes in the environment from the acquired temperature and humidity. When the environment detection unit 442 detects that the amount of change in temperature and humidity exceeds a predetermined threshold value, the environment detection unit 442 outputs a discharge signal to the discharge drive unit 480. The discharge drive unit 480 opens and closes the valve of the container 460 based on the input discharge signal to release the content 465, and the content 465 is discharged from the nozzle 414 of the housing 410 via the extension unit 430.

FIG. 9A is a diagram showing an example of the operating state of the protection device 400. Here, the operation of the protective device 400 will be described by taking the case where the unmanned aerial vehicle 100 enters the fire extinguishing activity site as an example.

In general, fire extinguishing sites have higher temperatures and humidity than other areas. When the unmanned aerial vehicle 100 flies at the fire extinguishing activity site, the discharge device 450 accommodates a container 460 filled with a dry gas such as _{N 2} or CO _{2 which does not contain water as the content 465.}

When the unmanned aerial vehicle 100 enters the fire extinguishing activity site, the environment detection unit 442 detects that the temperature and humidity have risen beyond a predetermined threshold value. The environment detection unit 442 transmits the generated discharge signal to the discharge device 450.

In response to the discharge signal acquired by the discharge device 450, the contents 465 of the container 460 are discharged from the nozzle 414. The discharged contents 465 reduce the water content in the atmosphere in the recess 420 of the housing 410.

FIG. 9B is a diagram showing an example of a cross section of the housing 410 in FIG. 9A.

The protection device 400 discharges the contents 465 of the container 460 from the nozzle 414 based on the change detected by the environment detection unit 442. The contents 465 discharged from the plurality of nozzles 414 reduce the water content in the atmosphere in the recess 420 of the housing 410 and prevent dew condensation on the surface of the sensor 50.

Alternatively, when the unmanned aerial vehicle 100 flies in a cold region, the discharge device 450 may heat or keep the container 460 warm by a heating mechanism so that the discharged contents 465 becomes warm air. When the environment detection unit 442 detects that the temperature has dropped beyond a predetermined threshold value, the environment detection unit 442 transmits the generated discharge signal to the discharge device 450. In response to the discharge signal acquired by the discharge device 450, the contents 465 of the container 460 are discharged from the nozzle 414. The discharged contents 465 raise the temperature inside the recess 420 of the housing 410 to prevent the surface of the sensor 50 from freezing.

[Example 3]
Next, the protective device according to the third embodiment will be described. FIG. 10 is a diagram showing an example of a functional block of the protection device 400 according to the third embodiment.

The protection device 400 of this example includes a foreign matter detection unit 412 for detecting foreign matter and a discharge device 450. The foreign matter detection unit 412 is provided in the housing 410. The foreign matter detection unit 412 is connected to the discharge device 450 by wire or wirelessly.

When the foreign matter detection unit 412 detects the foreign matter 500, the foreign matter detection unit 412 transmits the generated discharge signal to the discharge device 450. In response to the discharge signal acquired by the discharge device 450, the contents 465 of the container 460 are discharged from the nozzle 414.

In this case, the content 465 may be a gas or may contain a liquid. The protection device 400 may hit the detected foreign matter 500 with the content 465 ejected from the nozzle 414 and remove the foreign matter 500 by the impact. Alternatively, the content 465 may contain a repellent against the living body.

FIG. 11A is a cross-sectional view of the housing 410 showing an example of the foreign matter detection unit 412. In FIG. 11A, the foreign matter detecting unit 412 has a pair of light emitting units and a light receiving unit provided in the vicinity of the inlet 411 of the housing 410. In one example, a camera as a sensor 50 and a sensor cover 52 are attached to the bottom 424 of the recess 420.

The light emitting unit of the foreign matter detecting unit 412 emits light toward the light receiving unit. When the foreign matter detection unit 412 detects a change in the amount of light received by the light receiving unit, the foreign matter detection unit 412 transmits the generated discharge signal to the discharge device 450. The discharge drive unit 480 of the discharge device 450 opens and closes the valve of the container 460 based on the received discharge signal to release the content 465, and the content 465 is discharged from the nozzle 414 of the housing 410 via the extension unit 430. Will be done.

When the unmanned aerial vehicle 100 flies in an area where the amount of ambient light is sufficiently strong, the foreign matter detection unit 412 may not have a light emitting unit but may have only a light receiving unit.

FIG. 11B is a diagram showing an example in which the foreign matter 500 approaches the foreign matter detecting unit 412 shown in FIG. 11A.

When the foreign matter 500 passes through the path of light from the light emitting unit of the foreign matter detecting unit 412 to the light receiving unit, the foreign matter detecting unit 412 detects a change in the amount of received light received by the light receiving unit and transmits the generated discharge signal to the discharge device 450.

In response to the discharge signal acquired by the discharge device 450, the contents 465 of the container 460 are discharged from the nozzle 414. The discharged content 465 hits the foreign matter 500 approaching the sensor 50 and eliminates the foreign matter 500.

In this way, when the foreign matter detecting unit 412 detects the change in the light receiving amount of the light receiving part, the protective device 400 determines that the foreign matter 500 has approached the light receiving part, discharges the contents 465 of the container 460 from the nozzle 414, and discharges the contents 465 of the container 460 to the sensor. Protects 50 from foreign matter 500.

FIG. 12A is a perspective view of the housing 410 showing another example of the foreign matter detection unit 412. FIG. 12B is a cross-sectional view of the housing 410 in FIG. 12A. The foreign matter detecting unit 412 has an energizing unit such as a wire provided near the inlet 411 of the housing 410. In one example, an ultrasonic sensor or the like is attached to the bottom 424 of the recess 420 as a sensor 50.

When the foreign matter detection unit 412 detects a change in electrical resistance in the energizing unit, the foreign matter detection unit 412 transmits the generated discharge signal to the discharge device 450.

In response to the discharge signal acquired by the discharge device 450, the contents 465 of the container 460 are discharged from the nozzle 414. The discharged content 465 hits the foreign matter 500 approaching the sensor 50 and removes the foreign matter 500.

As described above, when the foreign matter detecting unit 412 detects the change in the electric resistance in the energized portion, the protective device 400 determines that the foreign matter 500, which is a conductor, has come into contact with the energized portion, and determines that the foreign matter 500 has come into contact with the energized portion, and the contents 465 of the container 460 from the nozzle 414. To protect the sensor 50 from the foreign matter 500.

The protective devices 400 according to the first to third embodiments may be combined. That is, the protection device 400 may include at least one of the information acquisition unit 440, the environment detection unit 442, and the foreign matter detection unit 412.

FIG. 13 is a cross-sectional view of the housing 410 showing another example of the foreign matter detection unit 412. The foreign matter detection unit 412 is attached to the bottom portion 424 of the recess 420 and operates as a sensor 50. In one example, the foreign matter detection unit 412 is a distance measuring sensor such as an ultrasonic sensor or LiDAR. In one example, the foreign matter detection unit 412 uses the sensor 50 to monitor the distance of obstacles around the unmanned aerial vehicle 100.

When the foreign matter 500 is located in the path of ultrasonic waves or laser light emitted by the foreign matter detection unit 412, the foreign matter detection unit 412 detects a sudden change in the distance measurement value and transmits the generated discharge signal to the discharge device 450. ..

In response to the discharge signal acquired by the discharge device 450, the contents 465 of the container 460 are discharged from the nozzle 414. The discharged content 465 hits the foreign matter 500 approaching the sensor 50 and eliminates the foreign matter 500.

In this way, when the foreign matter detection unit 412 detects a sudden change in the distance measurement value, the protection device 400 determines that the foreign matter 500 has approached the sensor 50 (that is, the foreign matter detection unit 412), and the nozzle 414 to the container 460 The contents 465 are ejected to protect the sensor 50 from the foreign matter 500.

FIG. 14 is a flow chart showing an example of the protection method. The protection method of this example may be applied to the protection device 400 described above.

In step S1402, the protective device 400 acquires information from the outside.

In step S1404, the protective device 400 discharges the contents 465 of the container 460 from the nozzle 414 connected to the container 460 based on the acquired information.

FIG. 15 is a flow chart showing another example of the protection method.

In step S1502, the protective device 400 detects changes in the environment.

In step S1504, the protective device 400 ejects the content 465 from the nozzle 414 based on the detected change.

FIG. 16 is a flow chart showing another example of the protection method.

In step S1602, the protective device 400 detects the foreign matter 500.

In step S1604, the protective device 400 ejects the contents 465 from the nozzle 414 in response to detecting the foreign matter 500.

As described above, the protection method of this example protects the sensor 50 mounted on the unmanned aerial vehicle 100.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the claims that such modified or improved forms may also be included in the technical scope of the present invention.

The order of execution of operations, procedures, steps, steps, etc. in the devices, systems, programs, and methods shown in the claims, specification, and drawings is particularly "before" and "prior to". It should be noted that it can be realized in any order unless the output of the previous process is used in the subsequent process. Even if the scope of claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. It's not a thing.

10 ... Main body, 15 ... Legs, 20 ... Propulsion, 21 ... Rotating wings, 22 ... Rotating drive, 24 ... Arms, 30 ... Movable camera, 32 ... Connecting unit, 40 ... GPS information receiving unit, 42 ... Advanced information receiving unit, 50 ... Sensor, 52 ... Sensor cover, 60 ... Communication unit, 100 ... Unmanned Aircraft, 110 ... Unmanned aircraft control unit, 200 ... Control device, 210 ... Antenna, 220 ... Control stick, 230 ... Discharge button, 300 ... Terminal device, 310 ... Display Unit, 320 ... Operating area, 400 ... Protective device, 410 ... Housing, 411 ... Entrance, 412 ... Foreign matter detection unit, 414 ... Nozzle, 420 ... Recessed, 424 ... bottom, 426 ... side, 430 ... extension, 440 ... information acquisition, 441 ... communication, 442 ... environment detection, 443 ... temperature sensor, 444.・ ・ Humidity sensor, 450 ・ ・ ・ Discharge device, 451 ・ ・ ・ Main body, 452 ・ ・ ・ Screw part, 453 ・ ・ ・ 1st end cover part, 454 ・ ・ ・ Actuator, 455 ・ ・ ・ 2nd end cover part 460 ... Container, 462 ... Stem, 465 ... Contents, 480 ... Discharge drive unit, 481 ... Cam, 482 ... Cam follower, 483 ... Movable plate, 500 ...・ Foreign matter

Claims (20)

A protective device for protecting sensors mounted on unmanned aerial vehicles.
With the housing
A nozzle provided in the housing and connected to the container is provided.
The protective device is a protective device that protects the sensor by ejecting the contents of the container from the nozzle. It also has an information acquisition unit that acquires information from the outside.
The protective device according to claim 1, wherein the contents are discharged from the nozzle based on the information acquired by the information acquisition unit. The protection device according to claim 2, wherein the information acquisition unit acquires operation information from an operator. The protection device according to claim 2 or 3, wherein the information acquisition unit acquires information from the unmanned aerial vehicle. It also has an environment detection unit that detects changes in the environment.
The protective device according to any one of claims 1 to 4, wherein the contents are discharged from the nozzle based on the change detected by the environment detection unit. Further equipped with a foreign matter detection unit that detects foreign matter,
The protective device according to any one of claims 1 to 5, wherein the foreign matter detecting unit discharges the contents from the nozzle in response to the detection of the foreign matter. The protective device according to claim 6, wherein the foreign matter detecting unit is provided near the entrance of the housing from the sensor, and the nozzle is provided between the sensor and the foreign matter detecting unit. The protective device according to claim 6 or 7, wherein the foreign matter detecting unit has a light receiving unit and detects a change in the amount of received light when the foreign matter approaches the light receiving unit. The protective device according to claim 6 or 7, wherein the foreign matter detecting unit has an energizing unit and detects a change in resistance when the foreign matter comes into contact with the energizing unit. The nozzle is provided between the sensor and the inlet of the housing.
The protective device according to claim 6, wherein the foreign matter detecting unit operates as the sensor. The housing has a recess having a cylindrical or substantially tapered shape from the entrance of the housing toward the bottom.
The protective device according to any one of claims 1 to 10, wherein the sensor is attached to the bottom portion, and the nozzle is provided on a side surface of the recess. The protective device according to any one of claims 1 to 11, further comprising the container. The protective device according to any one of claims 1 to 12, wherein the contents are discharged from the nozzle in a direction different from the direction toward the sensor. The protective device according to any one of claims 1 to 13, wherein the discharged contents include a liquid. The protective device according to any one of claims 1 to 14, wherein the discharged contents include a repellent for a living body. It is a protection method to protect the sensors mounted on unmanned aerial vehicles.
A protection method comprising a step of protecting the sensor by ejecting the contents of the container from a nozzle connected to the container. The stage of acquiring information from the outside and
The protection method according to claim 16, further comprising a step of ejecting the contents from the nozzle based on the acquired information. The stage of detecting changes in the environment and
The protection method according to claim 16 or 17, further comprising a step of ejecting the contents from the nozzle based on the detected change. The stage of detecting foreign matter and
The protection method according to claim 16 or 17, further comprising a step of ejecting the contents from the nozzle in response to the detection of the foreign matter. An unmanned aerial vehicle comprising the protective device according to any one of claims 1 to 15.

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